Overhead line inspection robot

Abstract

The invention discloses an overhead line inspection robot which comprises a robot body arranged on an overhead line and walking on the overhead line and a wireless charging station arranged at the end of the overhead line, a walking mechanism matched with the overhead line is arranged on the robot body, and an alarm and a camera are arranged at the lower end of the robot body; the robot body walks on the overhead line through the walking mechanism, the line and surrounding conditions are observed through the camera, inter-tower routing inspection is achieved, and the requirements for inter-tower line routing inspection, online resident observation and the like are met. The application of the tower-held robot is helpful for improving the timeliness, safety and accuracy of the operation and maintenance work. The robot can work under severe environmental conditions, and the working risks of personnel in high-altitude, high-pressure, high-temperature and other dangerous environments are reduced.

Description

Technical Field

[0001] The invention relates to the technical field of line inspection, in particular to an overhead line inspection robot. Background Art

[0002] Inspection is one of the basic contents of operation and maintenance. Through inspection, defects can be found in time so that preventive measures can be taken to ensure the safe operation of the line.

[0003] Overhead line inspections are divided into regular inspections, special inspections and fault inspections. Regular inspections are part of daily work. Lines of 10KV and below are inspected at least once a quarter. Special inspections are inspections after sudden changes in operating conditions, such as inspections after thunderstorms, heavy snow, heavy fog, inspections after earthquakes, etc. Fault inspections are inspections after a fault occurs.

[0004] The traditional inspection method is through manual inspection, but the manual inspection method has the following problems: 1. It is difficult to inspect large-span and high-altitude lines; 2. It is difficult to inspect lines in restricted flying areas and areas that are difficult for people to reach; 3. It is difficult to monitor and expel bird damage; 4. It is difficult to inspect lines during flood season and extreme weather. Summary of the invention

[0005] The purpose of the present invention is to solve the above-mentioned problems and provide an overhead line inspection robot, which realizes inter-tower inspection and solves the needs of inter-tower line inspection and online resident observation.

[0006] The technical solution adopted by the present invention to solve the technical problem is:

[0007] An overhead line inspection robot comprises a robot body arranged on the overhead line and walking on the overhead line, and a wireless charging station arranged at the end of the overhead line, wherein the robot body is provided with a walking mechanism cooperating with the overhead line, and an alarm and a camera are arranged at the lower end of the robot body;

[0008] The robot body is provided with a wireless charging panel that moves forward and backward in the robot body, and a switch door is provided at the rear end of the robot body. When the switch door is opened and closed, the wireless charging panel is driven to move forward and backward in the robot body under the action of the linkage mechanism, so that when the switch door is opened, the wireless charging panel extends from the robot body, and when the switch door is closed, the wireless charging panel is retracted into the robot body;

[0009] The linkage mechanism includes a first swing rod symmetrically arranged on the left and right, a fan-shaped portion arranged on the front end rotation shaft of the first swing rod on the inner side, a second swing rod arranged on the front end rotation shaft of the first swing rod on the inner side, and a connecting rod connecting the front end of the second swing rod and the wireless charging panel, two first swing rods are arranged on each side, and the two first swing rods on the same side are arranged in parallel, the front end of the first swing rod is rotatably connected to the bottom of the robot body, and the rear end of the first swing rod is rotatably connected to the inner side of the switch door on the same side, a tooth-shaped portion is arranged on the outer cylindrical surface of the fan-shaped portion, and the tooth-shaped portions of the fan-shaped portions on both sides are meshed with each other, the front end of the second swing rod is fixedly connected to the rotation shaft of the front end of the first swing rod on the inner side, the rear end of the second swing rod is rotatably connected to the front end of the connecting rod, the rear end of the connecting rod is rotatably connected to the wireless charging panel, and the symmetrical second swing rods are connected by a second tension spring;

[0010] A driving rod is provided at the lower end of the rotating shaft at the front end of the first inner swing rod, and a tilted portion deflected outward is provided at the rear end of the driving rod.

[0011] Furthermore, bends are provided at both ends of the wireless charging panel, and guide rods passing through the bends and slidably connected to the bends are provided on the inner walls on both sides of the robot body.

[0012] Furthermore, a first connecting plate is provided in the middle of the wireless charging panel, and the rear end of the connecting rod is rotatably connected to the first connecting plate.

[0013] Furthermore, a second connecting plate is provided on both of the switch doors, and the rear end of the first swing rod is rotatably connected to the second connecting plate on the same side.

[0014] Furthermore, the walking mechanism comprises a lower walking wheel and an upper walking wheel mounted on the robot body, and the outer cylindrical surfaces of the lower walking wheel and the upper walking wheel are both provided with a first groove cooperating with the cable.

[0015] Furthermore, a lifting plate is provided on the robot body, and the rotating shaft of the upper walking wheel is installed on the lifting plate. A vertical screw is provided in the robot body, and a third connecting plate is provided at the lower end of the lifting plate. The upper end of the screw passes through the third connecting plate and is threadedly connected to the third connecting plate, and a motor for driving the screw to rotate is provided at the lower end of the robot body.

[0016] Furthermore, a crushing mechanism for crushing ice on the overhead lines is provided at the front end of the robot body.

[0017] Furthermore, the crushing mechanism includes two upper and lower crushing rollers, the lower crushing roller is supported on the robot body, a connecting rod is provided at the upper end of the lifting plate, the upper crushing roller is supported on the connecting rod, a plurality of second grooves are evenly provided on the outer cylindrical surface of the crushing roller, and a striking mechanism is provided on the connecting rod.

[0018] Furthermore, the striking mechanism includes a rotating rod rotatably connected to the connecting rod at the middle position, a cross bar cooperating with the rear end of the rotating rod is provided on the upper side of the crushing roller, a striking rod is provided at the right end of the rotating rod, and a first tension spring is provided between the right end of the rotating rod and the connecting rod.

[0019] Furthermore, a photovoltaic panel is provided on the tower, and the photovoltaic panel is connected to the wireless charging station through a wire.

[0020] The beneficial effects of the present invention are:

[0021] 1. The present invention includes a robot body arranged on an overhead line and walking on the overhead line, and a wireless charging station arranged at the end of the overhead line. The robot body is provided with a walking mechanism that cooperates with the overhead line, and an alarm and a camera are provided at the lower end of the robot body; the robot body walks on the overhead line through the walking mechanism, and observes the line and the surrounding conditions through the camera, thereby realizing inter-tower inspection and solving the needs of inter-tower line inspection and online resident observation. The application of tower-based robots helps to improve the timeliness, safety and accuracy of operation and maintenance work. The robot can operate under harsh environmental conditions and reduce the operating risks of personnel in dangerous environments such as high altitude, high pressure and high temperature.

[0022] 2. The present invention is provided with a wireless charging panel that moves forward and backward in the robot body, and a switch door is provided at the rear end of the robot body. When the switch door is opened and closed, the wireless charging panel is driven to move forward and backward in the robot body under the action of the linkage mechanism, so that the wireless charging panel extends from the robot body when the switch door is opened, and the wireless charging panel is retracted into the robot body when the switch door is closed; when the robot body moves to the wireless charging station position, the switch door is opened, and the wireless charging panel extends from the robot body and contacts the wireless charging panel of the wireless charging station, thereby realizing automatic charging of the robot body, and the wireless charging panel in the robot body is protected by the switch door to prevent damage to the wireless charging panel, and to prevent dust and ice on the wireless charging panel, etc., to ensure reliable charging and reduce operation and maintenance costs.

[0023] 3. The linkage mechanism in the present invention includes a first swing rod symmetrically arranged on the left and right, a fan-shaped portion arranged on the inner front end rotation shaft of the first swing rod, a second swing rod arranged on the inner front end rotation shaft of the first swing rod, and a connecting rod connecting the front end of the second swing rod and the wireless charging panel. Two first swing rods are arranged on each side, and the two first swing rods on the same side are arranged in parallel. The front end of the first swing rod is rotatably connected to the bottom of the robot body, and the rear end of the first swing rod is rotatably connected to the inner side of the switch door on the same side. A toothed portion is arranged on the outer cylindrical surface of the fan-shaped portion, and the toothed portions of the fan-shaped portions on both sides are meshed with each other. The front end of the second swing rod The first swing rod is fixedly connected to the rotating shaft at the front end of the first swing rod on the inner side, the rear end of the second swing rod is rotationally connected to the front end of the connecting rod, the rear end of the connecting rod is rotationally connected to the wireless charging panel, and the symmetrical second swing rods are connected by a second tension spring; when the two first swing rods on the same side swing outward, under the action of the two fan-shaped parts, the first swing rods on both sides swing outward synchronously, and the switch door opens to both sides, and at the same time, the second swing rods on both sides swing outward synchronously, and under the action of the connecting rod, the wireless charging panel moves to the right and extends out of the robot body, and cooperates with the wireless charging panel of the wireless charging station to complete charging. The telescopic linkage of the switch door switch and the wireless charging panel is realized through a mechanical mechanism, which does not require a separate driving mechanism, has low cost, and the mechanical linkage method has good reliability.

[0024] 4. In the present invention, a driving rod is provided at the lower end of the front end rotating shaft of the first inner swing rod, and a tilted portion that deflects outward is provided at the rear end of the driving rod. When the robot body moves to the position of the wireless charging station, the tilted portions of the driving rods on both sides contact the two side walls of the wireless charging station. As the robot body moves, the driving rods on both sides open outward, thereby driving the switch doors on both sides to move and open. No separate driving mechanism such as a motor, cylinder, etc. is required to drive the opening, and the cost is low. When the robot body moves to the position of the wireless charging station, the two driving rods are used to position the robot body to prevent the robot body from deflecting. The electromagnetic locks of the two are reliably connected and the charging is stable.

[0025] 5. The crushing mechanism in the present invention includes two upper and lower crushing rollers, the lower crushing roller is supported on the robot body, a connecting rod is provided on the upper end of the lifting plate, the upper crushing roller is supported on the connecting rod, a plurality of second grooves are evenly provided on the outer cylindrical surface of the crushing roller, and a striking mechanism is provided on the connecting rod. The cable passes between the upper and lower crushing rollers, and as the robot body moves, the two crushing rollers squeeze the cable to crush the ice on the cable, thereby completing the function of removing the ice. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0027] Figure 1 It is a schematic diagram of the present invention;

[0028] Figure 2 The structure of the present invention is shown in FIG. Figure 1 ;

[0029] Figure 3 It is the front view of the present invention;

[0030] Figure 4 The structure of the present invention is shown in FIG. Figure 2 ;

[0031] Figure 5 The structure of the present invention is shown in FIG. Figure 3 ;

[0032] Figure 6 The internal structure of the present invention is shown in FIG. Figure 1 ;

[0033] Figure 7 The internal structure of the present invention is shown in FIG. Figure 2 .

[0034] In the figure: robot body 1, wireless charging station 2, alarm 3, camera 4, wireless charging panel 5, switch door 6, first swing arm 7, fan-shaped part 8, second swing arm 9, connecting rod 10, toothed part 11, driving rod 12, bend 13, guide rod 14, first connecting plate 15, second connecting plate 16, lower walking wheel 17, upper walking wheel 18, lifting plate 19, screw 20, third connecting plate 21, motor 22, crushing roller 23, connecting rod 24, second groove 25, rotating rod 26, cross bar 27, striking rod 28, first tension spring 29, second tension spring 30, photovoltaic panel 31. DETAILED DESCRIPTION

[0035] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0036] like Figure 1 and Figure 3As shown, an overhead line inspection robot includes a robot body 1 arranged on the overhead line and walking on the overhead line, and a wireless charging station 2 arranged at the end of the overhead line. The robot body 1 is provided with a walking mechanism that cooperates with the overhead line, and an alarm 3 and a camera 4 are provided at the lower end of the robot body 1; the robot body 1 walks on the overhead line through the walking mechanism, and observes the line and the surrounding conditions through the camera 4, thereby realizing inter-tower inspection and solving the needs of inter-tower line inspection and online resident observation.

[0037] The application of tower-based robots helps improve the timeliness, safety and accuracy of operation and maintenance work. Robots can operate in harsh environmental conditions, reducing the risk of personnel working in dangerous environments such as high altitude, high pressure and high temperature. In addition, the high-precision sensors and advanced image recognition technology equipped with robots can quickly and accurately identify line defects and avoid misjudgments caused by human errors. It helps maintenance units locate fault points more accurately and improve the efficiency of maintenance work.

[0038] The robot automatically performs inspection tasks at a scheduled time, drives away from the charging pile according to the task template, and conducts intelligent analysis of the key parts of the two-base tower body and the conductor body of one span, such as insulators, equalizing rings, bowl heads, bolts, nuts, and pins in important parts. When defects are found, early warning images and information are pushed out in a timely manner. The background controls the robot to go to the defective part for secondary confirmation and evidence collection.

[0039] When the robot has no inspection tasks, it enters sentinel mode and performs sentinel tasks on the charging pile side. It can promptly detect and monitor large-scale construction machinery that invades the transmission channel and its surrounding areas, including cranes, pump trucks, excavators, bulldozers, tower cranes and other machinery that may pose a threat to the transmission lines, as well as fireworks and foreign objects in the wires in the channel. Once discovered, the robot will promptly send information such as the line name and hidden danger image to the robot system management and control platform for timely processing to eliminate external damage risks in the bud.

[0040] When there are large-scale machinery construction or other hidden dangers near the passage that have been reported in advance, the robot can be operated to the vicinity of the hidden danger to conduct high-intensity monitoring of specific hidden danger targets or during special protection periods, and give voice prompts and shout to drive away violations as soon as they occur, so as to stop the violations in time and prevent accidents.

[0041] The robot is equipped with a 120dB speaker. When there are hidden dangers such as illegal construction, climbing towers, fishing, kite flying, etc. in the transmission channel, the robot can be driven above the construction machinery or personnel, and the illegal behavior can be stopped and driven away through the built-in alarm sound or real-time shouting, and video and photography can be taken to collect evidence, and timely disposal can be carried out to prevent accidents.

[0042] Through the inspection task covering the entire line, all photos of poles, hardware, hanging points and conductors are taken, and the system's automatic identification function of foreign objects such as kite lines is used to screen out photos of foreign objects such as kite lines. The actual operation line verification shows that the correct identification rate is above 90%, which greatly improves the efficiency of operation and maintenance work.

[0043] Through big data, the inspection tasks are automatically produced, covering the main inspection tower body, channels, and hanging points, saving manpower and material resources invested in manual inspections. At the same time, the image recognition function can be combined to locate and inspect key anomalies. Tasks can be compiled for different inspection levels to improve inspection efficiency, such as full coverage inspections of important political power supplies and ordinary inspections of important hanging points.

[0044] Additional functions can be added according to the application scenario, such as adding a shouting function to the equipment in places where kite flying is intensive: when large machinery, kite flying and other external forces are found to damage safety hazards, an alarm will be issued through shouting to drive them away. For important crossings, infrared temperature measurement equipment can be installed, and temperature measurement tasks can be compiled for online temperature measurement and high temperature alarm to reduce manpower.

[0045] The wireless charging station 2 is composed of a clamping structure, an anti-fall device, a wireless charging panel, a magnetic lock, and a limiter. Each unit is responsible for wireless charging, locking the robot, in-position sensing, anti-falling and other functions. The rear end of the robot body 1 is also provided with a magnetic lock that cooperates with the magnetic lock of the wireless charging station 2, which is not shown in the figure. This is a prior art and will not be described in detail here.

[0046] like Figure 4 and Figure 7 As shown, the robot body 1 is provided with a wireless charging panel 5 that moves forward and backward in the robot body 1, and a switch door 6 is provided at the rear end of the robot body 1. The switch door 6 is composed of two doors arranged side by side. When the switch door 6 is opened, the wireless charging panel 5 is driven to move forward and backward in the robot body 1 under the action of the linkage mechanism, so that when the switch door 6 is opened, the wireless charging panel 5 extends from the robot body 1, and when the switch door 6 is closed, the wireless charging panel 5 is retracted into the robot body 1; when the robot body 1 moves to the position of the wireless charging station 2, the switch door 6 is opened, and the wireless charging panel 5 extends from the robot body 1 and contacts the wireless charging panel of the wireless charging station 2, thereby realizing automatic charging of the robot body 1, and the wireless charging panel in the robot body 1 is protected by the switch door 6 to prevent damage to the wireless charging panel, and to prevent dust and ice on the wireless charging panel. Reliable charging is ensured and operation and maintenance costs are reduced.

[0047] like Figure 6 and Figure 7As shown, the linkage mechanism includes a first swing rod 7 symmetrically arranged on the left and right, a fan-shaped portion 8 arranged on the front end rotation axis of the first swing rod 7 on the inner side, a second swing rod 9 arranged on the front end rotation axis of the first swing rod 7 on the inner side, and a connecting rod 10 connecting the front end of the second swing rod 9 and the wireless charging panel 5. Two first swing rods 7 are arranged on each side, and the two first swing rods 7 on the same side are arranged in parallel, that is, four second swing rods 9 are arranged, and a four-bar mechanism is formed by the two first swing rods 7. The switch door 6 is opened and closed smoothly. The second swing rod 9, the fan-shaped portion 8 and the connecting rod 10 are all symmetrically arranged on the left and right. The front end of the first swing rod 7 is rotatably connected to the bottom of the robot body 1, and the rear end of the first swing rod 7 is rotatably connected to the inner side of the switch door 6 on the same side. The outer cylindrical surface of the fan-shaped portion 8 is provided with The toothed portion 11 and the toothed portions 11 of the fan-shaped portions 8 on both sides mesh with each other, the front end of the second swing rod 9 is fixedly connected to the rotating shaft of the front end of the first swing rod 7 on the inner side, the rear end of the second swing rod 9 is rotatably connected to the front end of the connecting rod 10, and the rear end of the connecting rod 10 is rotatably connected to the wireless charging panel 5, and the symmetrical second swing rods 9 are connected by the second tension spring 30; when the two first swing rods 7 on the same side swing outward, under the action of the two fan-shaped portions 8, the first swing rods 7 on both sides swing outward synchronously, and the switch door 6 opens to both sides, and at the same time, the second swing rods 9 on both sides swing outward synchronously, and under the action of the connecting rod 10, the wireless charging panel 5 moves to the right and extends out of the robot body 1, and cooperates with the wireless charging panel of the wireless charging station 2, thereby completing the charging. The telescopic linkage of the switch door 6 and the wireless charging panel 5 is realized by the mechanical mechanism, and a separate driving mechanism is not required, and the cost is low. At the same time, the mechanical linkage method has good reliability, and there will be no situation where the switch door is not opened and the wireless charging panel 5 extends out and collides with the switch door.

[0048] When the robot body 1 is away from the wireless charging station 2, under the action of the elastic force of the second tension spring 30, the second swing arms 9 on both sides swing inward synchronously, and the wireless charging panel 5 is retracted into the robot body 1, thereby realizing the automatic retraction of the wireless charging panel 5.

[0049] Two first swing arms 7 are provided on each side. When the two first swing arms 7 swing, the switch door 6 can be opened and closed smoothly, and when the switch door 6 is opened, it will move backward and will not interfere with the rear end of the robot body 1.

[0050] like Figure 5As shown, a driving rod 12 is provided at the lower end of the front end rotating shaft of the first inner swing rod 7, and a tilted portion deflecting outward is provided at the rear end of the driving rod 12. When the robot body 1 moves to the position of the wireless charging station 2, the tilted portions of the driving rods 12 on both sides contact the two side walls of the wireless charging station 2. As the robot body 1 moves, the driving rods 12 on both sides open outward, thereby driving the switch doors 6 on both sides to move and open. No separate driving mechanism such as a motor, cylinder, etc. is required to drive the opening, and the cost is low. When the robot body 1 moves to the position of the wireless charging station 2, the positioning of the robot body 1 is achieved by the two driving rods 12 to prevent the robot body 1 from deflecting. The electromagnetic lock connection between the two is reliable, and the charging is stable.

[0051] like Figure 7 As shown, bends 13 are provided at both ends of the wireless charging panel 5, and the bend 13 is a forward bend to ensure that when the wireless charging panel 5 extends out of the robot body 1, the two ends of the wireless charging panel 5 will not interfere with the inner end of the switch door 6, and guide rods 14 are provided on the inner walls of both sides of the robot body 1, passing through the bend 13 and slidingly connected to the bend 13.

[0052] like Figure 7 As shown, a first connecting plate 15 is provided in the middle of the wireless charging panel 5, and the rear end of the connecting rod 10 is rotatably connected to the first connecting plate 15. The first connecting plate 15 is horizontally arranged, and the first connecting plate 15 is arranged in the middle position, and the connecting rod 10 is symmetrically arranged to ensure that the wireless charging panel 5 moves smoothly. By setting the connecting rod 10, the moving distance of the wireless charging panel 5 is increased, and the wireless charging panel 5 can be extended from the robot body 1.

[0053] like Figure 7 As shown, the two switch doors 6 are both provided with a second connecting plate 16, and the rear end of the first swing rod 7 is rotatably connected to the second connecting plate 16 on the same side.

[0054] like Figure 2 As shown, the walking mechanism includes a lower walking wheel 17 and an upper walking wheel 18 installed on the robot body 1, the lower walking wheel 17 shaft is supported on the robot body 1 through a bearing, the lower walking wheel 17 and the upper walking wheel 18 are provided with a first groove that matches the cable on the outer cylindrical surface, the lower walking wheel 17 and the upper walking wheel 18 are provided with two in parallel, the upper walking wheel 18 is a driving wheel, the cable passes between the lower walking wheel 17 and the upper walking wheel 18, and when the upper walking wheel 18 rotates, the robot body 1 is realized to walk on the cable. By setting the first groove, the lower walking wheel 17 and the upper walking wheel 18 are prevented from being separated from the cable, and the reliability is good.

[0055] like Figure 2 and Figure 6As shown, the robot body 1 is provided with a lifting plate 19, which is arranged at the right side of the robot body 1. The upper end of the robot body 1 is provided with an opening, and the lifting plate 19 passes through the opening. The lifting plate 19 and the side wall of the robot body 1 are slidably connected through a guide rail slider pair. The shaft of the upper running wheel 18 is installed on the lifting plate 19. A vertical lead screw 20 is provided in the robot body 1. The lower end of the lifting plate 19 is provided with a third connecting plate 21. The upper end of the lead screw 20 passes through the third connecting plate 21 and is threadedly connected with the third connecting plate 21. The lower end of the robot body 1 is provided with a motor 22 for driving the lead screw 20 to rotate. The motor 22 drives the lead screw 20 to rotate. Under the action of the lead screw 20 and the third connecting plate 21, the lifting plate 19 is lifted and lowered. When the lifting plate 19 rises to a high point, the cable will enter between the lower running wheel 17 and the upper running wheel 18 from the side. After the lifting plate 19 descends, the first grooves of the lower running wheel 17 and the upper running wheel 18 clamp the cable, which is convenient for the installation of the robot body 1.

[0056] like Figure 2 and Figure 4 As shown, the front end of the robot body 1 is provided with a crushing mechanism for crushing ice on the overhead line. The crushing mechanism includes two upper and lower crushing rollers 23. The rotating shaft of the lower crushing roller 23 is supported on the robot body 1 through a bearing. A connecting rod 24 is provided at the upper end of the lifting plate 19. The upper crushing roller 23 is supported on the connecting rod 24. The connecting rod 24 is fixed to the upper end of the lifting plate 19 by bolts. A plurality of second grooves 25 are evenly arranged on the outer cylindrical surface of the crushing roller 23. A striking mechanism is provided on the connecting rod 24. The cable passes between the upper and lower crushing rollers 23. As the robot body 1 moves, the two crushing rollers 23 squeeze the cable to crush the ice on the cable, thereby completing the function of removing the ice.

[0057] The striking mechanism includes a rotating rod 26 rotatably connected between the middle position and the connecting rod 24, a cross bar 27 matched with the rear end of the rotating rod 26 is provided on the side of the upper crushing roller 23, a striking rod 28 is provided at the right end of the rotating rod 26, and a first tension spring 29 is provided between the right end of the rotating rod 26 and the connecting rod 24. When the upper crushing roller 23 rotates, the cross bar 27 continuously contacts with the rear end of the rotating rod 26, driving the rotating rod 26 to continuously rotate to overcome the elastic force of the first tension spring 29, thereby realizing the continuous striking of the striking rod 28, breaking the ice, and improving the cleaning efficiency of the ice.

[0058] like Figure 1 As shown, a photovoltaic panel 31 is provided on the tower, and the photovoltaic panel 31 is connected to the wireless charging station 2 through a wire, thereby realizing automatic charging of the wireless charging station 2 and being energy-saving and environmentally friendly.

[0059] In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "left", "right", "up", "down", etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0060] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection, it can be a direct connection, it can be an indirect connection through an intermediate medium, and it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

Claims

1. An overhead line inspection robot, characterized in that: The invention comprises a robot body (1) arranged on an overhead line and walking on the overhead line, and a wireless charging station (2) arranged at the end of the overhead line, wherein the robot body (1) is provided with a walking mechanism cooperating with the overhead line, and the lower end of the robot body (1) is provided with an alarm (3) and a camera (4); The robot body (1) is provided with a wireless charging panel (5) which moves forward and backward in the robot body (1); a switch door (6) is provided at the rear end of the robot body (1); when the switch door (6) is opened or closed, the wireless charging panel (5) is driven to move forward and backward in the robot body (1) under the action of a linkage mechanism, so that when the switch door (6) is opened, the wireless charging panel (5) extends from the robot body (1); and when the switch door (6) is closed, the wireless charging panel (5) is retracted into the robot body (1); The linkage mechanism comprises a first swing rod (7) symmetrically arranged on the left and right, a fan-shaped portion (8) arranged on the front end rotation shaft of the first swing rod (7) on the inner side, a second swing rod (9) arranged on the front end rotation shaft of the first swing rod (7) on the inner side, and a connecting rod (10) connecting the front end of the second swing rod (9) and the wireless charging panel (5), two first swing rods (7) are arranged on each side, and the two first swing rods (7) on the same side are arranged in parallel, the front end of the first swing rod (7) is rotatably connected to the bottom of the robot body (1), and the first swing rod (7) The rear end is rotatably connected to the inner side of the switch door (6) on the same side, a toothed portion (11) is provided on the outer cylindrical surface of the sector-shaped portion (8), and the toothed portions (11) of the sector-shaped portions (8) on both sides are meshed with each other, the front end of the second swing rod (9) is fixedly connected to the rotating shaft of the front end of the first swing rod (7) on the inner side, the rear end of the second swing rod (9) is rotatably connected to the front end of the connecting rod (10), and the rear end of the connecting rod (10) is rotatably connected to the wireless charging panel (5), and the symmetrical second swing rods (9) are connected via a second tension spring (30); A driving rod (12) is provided at the lower end of the front end rotation shaft of the first inner swing rod (7), and a tilted portion deflected outward is provided at the rear end of the driving rod (12).

2. An overhead line inspection robot as claimed in claim 1, characterized in that: Bends (13) are provided at both ends of the wireless charging panel (5), and guide rods (14) are provided on the inner walls on both sides of the robot body (1) and pass through the bends (13) and are slidably connected to the bends (13).

3. An overhead line inspection robot as claimed in claim 1, characterized in that: A first connecting plate (15) is provided in the middle of the wireless charging panel (5), and the rear end of the connecting rod (10) is rotatably connected to the first connecting plate (15).

4. An overhead line inspection robot according to claim 1, characterized in that: The two switch doors (6) are both provided with a second connecting plate (16), and the rear end of the first swing rod (7) is rotatably connected to the second connecting plate (16) on the same side.

5. The overhead line inspection robot according to claim 1, characterized in that: The walking mechanism comprises a lower walking wheel (17) and an upper walking wheel (18) mounted on the robot body (1), and the outer cylindrical surfaces of the lower walking wheel (17) and the upper walking wheel (18) are both provided with a first groove that cooperates with the cable.

6. An overhead line inspection robot as claimed in claim 5, characterized in that: The robot body (1) is provided with a lifting plate (19), the rotating shaft of the upper walking wheel (18) is mounted on the lifting plate (19), a vertical lead screw (20) is provided inside the robot body (1), a third connecting plate (21) is provided at the lower end of the lifting plate (19), the upper end of the lead screw (20) passes through the third connecting plate (21) and is threadedly connected to the third connecting plate (21), and a motor (22) for driving the lead screw (20) to rotate is provided at the lower end of the robot body (1).

7. An overhead line inspection robot as claimed in claim 1, characterized in that: The front end of the robot body (1) is provided with a crushing mechanism for crushing ice covering the overhead lines.

8. An overhead line inspection robot as claimed in claim 7, characterized in that: The crushing mechanism comprises two upper and lower crushing rollers (23), the lower crushing roller (23) being supported on the robot body (1), a connecting rod (24) being provided at the upper end of the lifting plate (19), the upper crushing roller (23) being supported on the connecting rod (24), a plurality of second grooves (25) being evenly arranged on the outer cylindrical surface of the crushing roller (23), and a striking mechanism being provided on the connecting rod (24).

9. An overhead line inspection robot as claimed in claim 8, characterized in that: The striking mechanism comprises a rotating rod (26) rotatably connected to a connecting rod (24) at a middle position, a cross rod (27) cooperating with a rear end of the rotating rod (26) is provided on the side of the upper crushing roller (23), a striking rod (28) is provided at the right end of the rotating rod (26), and a first tension spring (29) is provided between the right end of the rotating rod (26) and the connecting rod (24).

10. The overhead line inspection robot according to claim 1, characterized in that: A photovoltaic panel (31) is provided on the tower, and the photovoltaic panel (31) is connected to the wireless charging station (2) via a wire.

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